package ObstacleTest;

import lejos.nxt.Motor;
import lejos.nxt.SensorPort;
import lejos.nxt.UltrasonicSensor;
import lejos.robotics.objectdetection.Feature;
import lejos.robotics.objectdetection.FeatureDetector;
import lejos.robotics.objectdetection.RangeFeatureDetector;
import Communication.NECommunication;
import Communication.NEMain;
import NursE.NEHead;
import NursE.NENurse;
import NursE.NEWheel;

public class Test {
protected static NENurse nurse;
	
	/**
	 * @param args
	 * @throws InterruptedException 
	 */
	
	public static void main(String[] args){

		/**
		 * Diameter in inch of the two wheels
		 */
		double wheelDiameter = 2.2f;
		/**
		 * Two wheels of Nurse
		 */
		NEWheel leftWheel 	= NEWheel.newWheelWithMotorAndDiameter(Motor.A, wheelDiameter);
		NEWheel	rightWheel 	= NEWheel.newWheelWithMotorAndDiameter(Motor.B, wheelDiameter);
		
		/**
		 * Head of Nurse
		 */
		//NEHead head	= new NEHead();
		NEHead head = new NEHead(Motor.C, SensorPort.S1);
		/**
		 * Distance in inch between the axes of the two wheels
		 */
		double width	= 4.8f;
		/**
		 * Nurse !
		 */
		nurse 	= NENurse.newNurseWithLeftAndRightWheelsAndHeadAndWidth(new NEMain(), leftWheel, rightWheel, head, width);
		//nurse.move();
		
		
		
	}
}
